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<div class="title">densecrf.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Christian Potthast</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : potthast@usc.edu</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_DENSE_CRF_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_DENSE_CRF_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/ml/pairwise_potential.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html">   53</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_dense_crf.html">DenseCrf</a></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a3c2aeef95d485d21c499bde46c31a3a8">   58</a></span>&#160;      <a class="code" href="classpcl_1_1_dense_crf.html#a3c2aeef95d485d21c499bde46c31a3a8">DenseCrf</a> (<span class="keywordtype">int</span> N, <span class="keywordtype">int</span> m);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a40c6b180d6cc7445ff5467053f24ab58">   61</a></span>&#160;      <a class="code" href="classpcl_1_1_dense_crf.html#a40c6b180d6cc7445ff5467053f24ab58">~DenseCrf</a> ();</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a0441a06675da9348d73b948ee1558a97">   68</a></span>&#160;      <a class="code" href="classpcl_1_1_dense_crf.html#a0441a06675da9348d73b948ee1558a97">setDataVector</a> (<span class="keyword">const</span> std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; data);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#ae6b1eba9ec2d38bc8176c2de5647fd59">   73</a></span>&#160;      <a class="code" href="classpcl_1_1_dense_crf.html#ae6b1eba9ec2d38bc8176c2de5647fd59">setColorVector</a> (<span class="keyword">const</span> std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; color);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      setUnaryEnergy (<span class="keyword">const</span> std::vector&lt;float&gt; unary);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#ae66f573a26b61bdf3516bd0ff9e0e54a">   80</a></span>&#160;      <a class="code" href="classpcl_1_1_dense_crf.html#ae66f573a26b61bdf3516bd0ff9e0e54a">addPairwiseEnergy</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;feature, <span class="keyword">const</span> <span class="keywordtype">int</span> feature_dimension, <span class="keyword">const</span> <span class="keywordtype">float</span> w);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a5bb93254b147b20fff03f849353a0679">   87</a></span>&#160;      <a class="code" href="classpcl_1_1_dense_crf.html#a5bb93254b147b20fff03f849353a0679">addPairwiseGaussian</a> (<span class="keywordtype">float</span> sx, <span class="keywordtype">float</span> sy, <span class="keywordtype">float</span> sz, <span class="keywordtype">float</span> w);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a7bd8a262e025dcc1ea406842d9669c35">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_dense_crf.html#a7bd8a262e025dcc1ea406842d9669c35">addPairwiseBilateral</a> (<span class="keywordtype">float</span> sx, <span class="keywordtype">float</span> sy, <span class="keywordtype">float</span> sz, </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                            <span class="keywordtype">float</span> sr, <span class="keywordtype">float</span> sg, <span class="keywordtype">float</span> sb,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                            <span class="keywordtype">float</span> w);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      addPairwiseNormals (std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; &amp;coord,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                          std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp;normals,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                          <span class="keywordtype">float</span> sx, <span class="keywordtype">float</span> sy, <span class="keywordtype">float</span> sz, </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                          <span class="keywordtype">float</span> snx, <span class="keywordtype">float</span> sny, <span class="keywordtype">float</span> snz,</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                          <span class="keywordtype">float</span> w);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      inference (<span class="keywordtype">int</span> n_iterations, std::vector&lt;float&gt; &amp;result, <span class="keywordtype">float</span> relax = 1.0f);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      mapInference (<span class="keywordtype">int</span> n_iterations, std::vector&lt;int&gt; &amp;result, <span class="keywordtype">float</span> relax = 1.0f);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      expAndNormalize (std::vector&lt;float&gt; &amp;out, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;in,</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                       <span class="keywordtype">float</span> scale, <span class="keywordtype">float</span> relax = 1.0f);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      expAndNormalizeORI ( <span class="keywordtype">float</span>* out, <span class="keyword">const</span> <span class="keywordtype">float</span>* in, <span class="keywordtype">float</span> scale=1.0f, <span class="keywordtype">float</span> relax=1.0f );</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">void</span> map ( <span class="keywordtype">int</span> n_iterations, std::vector&lt;int&gt; result, <span class="keywordtype">float</span> relax=1.0f );</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      std::vector&lt;float&gt; runInference( <span class="keywordtype">int</span> n_iterations, <span class="keywordtype">float</span> relax );</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">void</span> startInference();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">void</span> stepInference( <span class="keywordtype">float</span> relax );</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      runInference (<span class="keywordtype">float</span> relax);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      getBarycentric (<span class="keywordtype">int</span> idx, std::vector&lt;float&gt; &amp;bary);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      getFeatures (<span class="keywordtype">int</span> idx, std::vector&lt;float&gt; &amp;features);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a69d37f760e543d420da781b402d38af5">  139</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_dense_crf.html#a69d37f760e543d420da781b402d38af5">N_</a>, M_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a53a954a194cf507691a238221338dc5b">  142</a></span>&#160;      std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; <a class="code" href="classpcl_1_1_dense_crf.html#a53a954a194cf507691a238221338dc5b">data_</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a7aa706760c61bebca66f00d2e449d26d">  145</a></span>&#160;      std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; <a class="code" href="classpcl_1_1_dense_crf.html#a7aa706760c61bebca66f00d2e449d26d">color_</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#ace11861bdab6a79b56b5ae5aa65435a0">  149</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_dense_crf.html#ace11861bdab6a79b56b5ae5aa65435a0">unary_</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      std::vector&lt;float&gt; current_;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      std::vector&lt;float&gt; next_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      std::vector&lt;float&gt; tmp_;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a6cf7d318334ffbffcc7a20975f05352f">  156</a></span>&#160;      std::vector&lt;PairwisePotential*&gt; <a class="code" href="classpcl_1_1_dense_crf.html#a6cf7d318334ffbffcc7a20975f05352f">pairwise_potential_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_dense_crf.html#a1d518d1dea6ea4b91eb88b69ca0c2625">  159</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_dense_crf.html#a1d518d1dea6ea4b91eb88b69ca0c2625">xyz_</a>, rgb_, normal_;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  };</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;}</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html"><div class="ttname"><a href="classpcl_1_1_dense_crf.html">pcl::DenseCrf</a></div><div class="ttdef"><b>Definition:</b> densecrf.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a0441a06675da9348d73b948ee1558a97"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a0441a06675da9348d73b948ee1558a97">pcl::DenseCrf::setDataVector</a></div><div class="ttdeci">void setDataVector(const std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; data)</div><div class="ttdoc">set the input data vector. The input data vector holds the measurements coordinates as ijk of the vox...</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a1d518d1dea6ea4b91eb88b69ca0c2625"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a1d518d1dea6ea4b91eb88b69ca0c2625">pcl::DenseCrf::xyz_</a></div><div class="ttdeci">bool xyz_</div><div class="ttdoc">input types</div><div class="ttdef"><b>Definition:</b> densecrf.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a3c2aeef95d485d21c499bde46c31a3a8"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a3c2aeef95d485d21c499bde46c31a3a8">pcl::DenseCrf::DenseCrf</a></div><div class="ttdeci">DenseCrf(int N, int m)</div><div class="ttdoc">Constructor for DenseCrf class</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a40c6b180d6cc7445ff5467053f24ab58"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a40c6b180d6cc7445ff5467053f24ab58">pcl::DenseCrf::~DenseCrf</a></div><div class="ttdeci">~DenseCrf()</div><div class="ttdoc">Deconstructor for DenseCrf class</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a53a954a194cf507691a238221338dc5b"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a53a954a194cf507691a238221338dc5b">pcl::DenseCrf::data_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; data_</div><div class="ttdoc">Data vector</div><div class="ttdef"><b>Definition:</b> densecrf.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a5bb93254b147b20fff03f849353a0679"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a5bb93254b147b20fff03f849353a0679">pcl::DenseCrf::addPairwiseGaussian</a></div><div class="ttdeci">void addPairwiseGaussian(float sx, float sy, float sz, float w)</div><div class="ttdoc">Add a pairwise gaussian kernel</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a69d37f760e543d420da781b402d38af5"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a69d37f760e543d420da781b402d38af5">pcl::DenseCrf::N_</a></div><div class="ttdeci">int N_</div><div class="ttdoc">Number of variables and labels</div><div class="ttdef"><b>Definition:</b> densecrf.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a6cf7d318334ffbffcc7a20975f05352f"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a6cf7d318334ffbffcc7a20975f05352f">pcl::DenseCrf::pairwise_potential_</a></div><div class="ttdeci">std::vector&lt; PairwisePotential * &gt; pairwise_potential_</div><div class="ttdoc">pairwise potentials</div><div class="ttdef"><b>Definition:</b> densecrf.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a7aa706760c61bebca66f00d2e449d26d"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a7aa706760c61bebca66f00d2e449d26d">pcl::DenseCrf::color_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; color_</div><div class="ttdoc">Color vector</div><div class="ttdef"><b>Definition:</b> densecrf.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_a7bd8a262e025dcc1ea406842d9669c35"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#a7bd8a262e025dcc1ea406842d9669c35">pcl::DenseCrf::addPairwiseBilateral</a></div><div class="ttdeci">void addPairwiseBilateral(float sx, float sy, float sz, float sr, float sg, float sb, float w)</div><div class="ttdoc">Add a bilateral gaussian kernel</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_ace11861bdab6a79b56b5ae5aa65435a0"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#ace11861bdab6a79b56b5ae5aa65435a0">pcl::DenseCrf::unary_</a></div><div class="ttdeci">std::vector&lt; float &gt; unary_</div><div class="ttdoc">CRF unary potentials</div><div class="ttdef"><b>Definition:</b> densecrf.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_ae66f573a26b61bdf3516bd0ff9e0e54a"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#ae66f573a26b61bdf3516bd0ff9e0e54a">pcl::DenseCrf::addPairwiseEnergy</a></div><div class="ttdeci">void addPairwiseEnergy(const std::vector&lt; float &gt; &amp;feature, const int feature_dimension, const float w)</div></div>
<div class="ttc" id="aclasspcl_1_1_dense_crf_html_ae6b1eba9ec2d38bc8176c2de5647fd59"><div class="ttname"><a href="classpcl_1_1_dense_crf.html#ae6b1eba9ec2d38bc8176c2de5647fd59">pcl::DenseCrf::setColorVector</a></div><div class="ttdeci">void setColorVector(const std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; color)</div><div class="ttdoc">The associated color of the data</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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